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- Title
Adaptive longitudinal control for multivehicle cooperative systems with actuator saturation under road bumps.
- Authors
Yang, Hongjiu; Wang, Jin; Li, Hongbo; Zuo, Zhiqiang
- Abstract
In this article, an adaptive longitudinal control strategy is proposed for a multivehicle cooperative system with actuator saturation. The multivehicle cooperative system is modeled as a longitudinal system. Uncertain disturbances caused by road bumps during vehicle driving are estimated by an adaptive extended state observer based on Silverman canonical transformation and pole placement. An adaptive integral sliding mode control algorithm is designed to accomplish adaptive longitudinal control and handle actuator saturation. With Lyapunov criterion, stability is presented for the multivehicle cooperative system with the adaptive longitudinal control strategy. Simulation results are given to show effectiveness of the adaptive extended state observer and the adaptive integral sliding mode control algorithm.
- Subjects
ADAPTIVE control systems; COOPERATIVE control systems; SLIDING mode control; ACTUATORS; POLE assignment
- Publication
International Journal of Robust & Nonlinear Control, 2022, Vol 32, Issue 6, p3361
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.5960